CN102160005A - System and method for inspection of structures and objects by swarm of remote unmanned vehicles - Google Patents
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Abstract
A method for inspecting structures that includes using a plurality of independent unmanned mobile vehicles. The unmanned mobile vehicles are equipped with a control and guidance system for enabling each unmanned mobile vehicle to operate autonomously. Each unmanned mobile vehicle may be programmed with an operating program that defines a path of travel for it, relative to a structure to be inspected. The unmanned mobile vehicles are deployed so that they cooperatively form a swarm that travels about the structure. At least one of said unmanned mobile vehicles is used to obtain inspection data of a portion of the structure as it executes its respective operating program.
Description
Technical field
The disclosure relates to the system and method that is used to carry out Survey Operations, and relates more specifically to make it possible to by a plurality of unmanned mobile traffics the system and method for long-range inspection structure or object.
Background technology
The explanation of this part only provides about background information of the present disclosure and may not constitute prior art.
The inspection of carrying out in person based on the mankind to structure and various types of objects may be consuming time, expensive, difficulty and normally dangerous concerning the personnel that carry out.The example of the structure of challenge is bridge, dam, embankment, generating plant, power transmission line or electrical network, water processing establishment, refinery, chemical treatment factory, skyscraper to check constituting obviously, relate to the facility of electric power train and single track supporting construction, more than only list several.
The structure of using still camera (for example hard-wired camera) to provide to require the cycle visual inspection or the periodicity image of object have limited effect.Still camera has limited visual field.Therefore, if do not use a large amount of this cameras, check that hundreds of rice of big zone such as extension or longer power transmission line just are difficult to maybe can not finish.In addition, in case camera is installed in place, then it may be not easy approaching with maintenance or maintenance.The installation of camera may require it to be exposed in the physical environment, and this may reduce the reliability and/or the job costs of camera.
Be installed near the bridge top still camera with the periodicity image of the structure division that obtains bridge under the situation that needs repairing or safeguard, may also be difficult to by personnel contact and/or this contact meeting very expensive.Requirement personnel contact is installed in the action of the camera at tops such as bridge, dam and brings the great risk of personal safety also may for the workman who is responsible for this task.Sometimes, facility may require such inspection, and promptly wherein because of environment, chemistry or bio-element, this inspection places the workman in the condition that its health is existed remarkable risk.This situation may run in manufacturing works, wherein needs the facility of working in the zone that may have harmful chemical or the part of machine are carried out the periodicity routine inspection.The inspection of the structure division of offshore drilling platform will be another example, and wherein environmental factor will make personnel on the line to the inspection of the various parts of platform.For other structure, for example be positioned at large-scale antenna or telescope on the mountain, there is the situation of great risk in its personal safety that may present the supervisory personnel.
Check in the application at some, use the helicopter of pilot steering to check each facility.Yet the operation of the helicopter of pilot steering aspect cost of an asset (helicopter, fuel and maintenance) and job costs (pilot's wage) is very expensive.In addition, check the restriction of the quantity available be subjected to pilot and helicopter and danger close in some cases, in rainy day or sandstorm.In addition, under inclement weather, may not use the helicopter of pilot steering sometimes.
The helicopter cost of Long-distance Control (RC) is lower, but requires well-trained RC pilot, therefore checks that with a plurality of helicopters large area needs a large amount of expensive well-trained RC pilots.In addition, because the quantity of available RC pilot and RC helicopter checks accurately and checks that the duration of work may be restricted.
Summary of the invention
In one aspect, the disclosure relates to a kind of method of checking structure.This method can comprise:
Use a plurality of independently unmanned mobile traffics;
For each described unmanned mobile traffic is equipped with control and navigational system so that each described unmanned mobile traffic can utonomous working;
To each described unmanned mobile traffic programming, this working routine defines each described unmanned mobile traffic with respect to the travel path that is examined structure with working routine;
Arrange each described unmanned mobile traffic, thereby described unmanned mobile traffic forms the cluster of advancing around described structure collaboratively; And
Use at least one described unmanned mobile traffic with carry out along with it its separately working routine and obtain the inspection data of the described structure of part.
On the other hand, a kind of method of checking structure is disclosed.This method can comprise:
Use a plurality of independently unmanned mobile traffics;
For each described unmanned mobile traffic is equipped with control and navigational system so that each described unmanned mobile traffic can utonomous working;
To each described unmanned mobile traffic programming, this working routine defines each described unmanned mobile traffic with respect to the unique travel path that is examined structure with working routine;
Arrange each described unmanned mobile traffic, thereby described unmanned mobile traffic forms the cluster of advancing around described structure collaboratively;
Use described unmanned mobile traffic with carry out along with each described unmanned mobile traffic its separately working routine and obtain the image of the described structure of part; And
Make the described image of each described unmanned mobile traffic wireless transmission to the remote centralized inspection post.
In another aspect of the present disclosure, a kind of system that is used to check structure is disclosed.This system can comprise:
A plurality of independently unmanned mobile traffics;
Each described unmanned mobile traffic has control and the navigational system that is used to make each described unmanned mobile traffic energy utonomous working;
Each described unmanned mobile traffic comprises the working routine of each described unmanned mobile traffic of definition with respect to the travel path that is examined structure, thereby described at work unmanned mobile traffic forms the cluster that moves around described structure collaboratively; And
At least one described unmanned mobile traffic comprises imaging device, thus along with its carry out its separately working routine and obtain the image of the described structure of part.
Further range of application will become obvious by description provided herein.Should understand that instructions and concrete example only are intended to illustrative purpose but not be intended to limit the scope of the present disclosure.
Description of drawings
Accompanying drawing described herein just to illustrative purpose but not be intended to limit by any way the scope of the present disclosure.
Fig. 1 is the block diagram according to an embodiment of system of the present invention;
Fig. 2 is the block diagram of the mobile system that can carry on each UAV shown in Figure 1; And
Fig. 3 is the process flow diagram of the main operation that can be carried out by the system of Fig. 1.
Embodiment
Following description in fact only is exemplary but not is intended to limit the disclosure, application or purposes.
With reference to Fig. 1, it shows the system 10 that is used to check structure.System 10 comprises can be used for mobile a plurality of unmanned mobile traffic 12 around the structure 14 that requires periodic test.In this example, unmanned mobile traffic is exemplified as unmanned transatmospheric vehicle, and more specifically for unmanned rotary wing aircraft (abbreviating " UAV " 12 hereinafter as), it should be understood that such as unmanned land craft 12 ' and unmanned waterborne vessel 12 " the other forms of unmanned vehicles such as (on the waters surface and under water) can easily be applicable to native system 10.Equally, although structure 14 is exemplified as bridge, but system 10 is suitable for checking multiple other structures equally, includes but not limited to power transmission line, power generating equipment, electrical network, dam, embankment, gymnasium, heavy construction, large-scale antenna and telescope, water processing establishment, refinery, chemical treatment factory, skyscraper and relates to the electric power train and the facility of single track supporting construction.System 10 also is specially adapted to such as heavy construction inside such as manufacturing building and storehouses.Basically by the vehicles inspection of the vehicles of pilot steering or artificial Long-distance Control (RC) get up difficulty, costliness or dangerous all using system 10 inspections potentially of any structure.
In Fig. 1, only show 5 UAV 12a-12e to avoid making accompanying drawing in disorder.Yet, should understand and can use more or less a plurality of UAV 12 to satisfy the needs of particular exam task.For the large scale structure of all bridges 14 as shown in Figure 1, may need 10-20 UAV 12 potentially.Littler structure can only require the inspection task of 2-5 UAV needing to carry out.Each UAV 12a-12e comprises mobile system 16, and this mobile system can be handled UAV 12 and can obtain to be examined the inspection data of structure according to the flight planning of pre-programmed.Check that data can comprise image, video or voice data, as will in paragraph subsequently, being described in more detail.
The flight planning of the pre-programmed of each UAV 12a-12e carrying makes each UAV can follow unique flight path around part-structure.For example, UAV 12a can comprise makes its bridge 14 and around the flight planning of pillar 14a repetitive cycling of flying out, and the mission program of UAV 12b makes UAV 12b along path 14b and upwards flight downwards.UAV 12c can be set to closely along its horizontal steel construction shuttle flight below bridge 14.Thus, can understand for each UAV 12a-12b, therefore the flight planning of its pre-programmed (and flight path) is unique and forms with respect to the specified portions of the structure that is intended to check.Thus, each UAV 12 can pass the specific specified portions of bridge 14.In case aloft, then UAV 12a-12e forms the vehicles can be regarded as " cluster ", make it possible to carry out the checking very completely of each zone of structure, otherwise the inspection of the vehicles of pilot steering may be a difficulty, expensive and/or dangerous.Generally, a plurality of UAV 12 that any given inspection task adopts are many more, and the time of finishing the inspection mission requirements is short more.
Use for checking, expectation can particularly advantageously be used as UAV 12 such as unmanned rotary wing aircrafts such as depopulated helicopters.This is because depopulated helicopter has the ability of spiraling and moving with low-down speed.The vertical and landing takeoff function of the depopulated helicopter of Long-distance Control also can be highly favourable in a lot of the application, especially when the time such as the internal work of the structure of manufacturing plant, storehouse etc. or facility, maybe when inspection may have many together high-level structures (for example chimney) of closely growing thickly such as complex facilities such as refinery or chemical treatment factories the time.In these are used, the use of the unmanned vehicles of fixed-wing will need clean, very long zone to be used to take off and land, even feasible, also be difficult to dispatch in each vertical structure periphery or buildings.If desired, what the ability of then spiraling and/or only vertically moving made unmanned Long-distance Control goes straight up to function near flight and check such as large-scale vertical structure such as the vertical support column of bridge, antenna or near such as other vertically surface flights such as dams, wherein uses the inspection of the unmanned vehicles of fixed-wing may be very difficult.UAV 12 also can be by arranging such as other transatmospheric vehicles such as large transport helicopter or fixed wing aircraft.This layout will obviously be saved the fuel of UAV 12, and it can must be remained on from taking off based on the position on ground with himself energy for more time than UAV 12 in the air.
Although concentrate inspection post 18 to be illustrated as inspection post based on land, its can be easy to form mobile inspection post 18 on the rotocraft of aircraft or pilot steering '.Can also form mobile inspection post 18 " based on ground.Therefore, concentrating inspection post 18 must not be fixed sturcture or facility.Each UAV 12a-12e also may pass through repeater satellite 29 and/or use wide area network or LAN (Local Area Network) and communicate by letter with the inspection post 18 of concentrating.
With reference to Fig. 2, showing can be by the mobile system 16 of each UAV 12a-12e carrying.Yet the mobile system 16 that should understand by each UAV 12a-12e carrying can comprise different parts, and this depends on that given UAV 12 is programmed the concrete part with the described structure of checking.Thus, the mobile system 16 of each UAV needs not be identical.
With reference to Fig. 3, flow process Figure 100 of the operation of an exemplary embodiment of carrying out system 10 has been described example.In operation 102, the flight planning program is loaded among the flight planning storer 30a of each UAV 12a-12e.Flight planning is specified the specific part (or a plurality of part) of the bridge of checking 14 at UAV 12.Flight planning is to make its related UAV 12 through flight paths, make its fully near the predetermined portions of bridge 14 to obtain needed inspection data, needed inspection data are rest image or video in this example.
In operation 104, UAV 12a-12e is arranged to form inspection " cluster ".When UAV 12 arrived bridge 14, each UAV wherein began to obtain the inspection data that it specifies the part of the bridge of checking.Described inspection data can comprise rest image, video, audio frequency or even its combination.In operation 108, UAV 12a-12e sends to concentrated inspection post 18 through its transceiver 34 and antenna 36 with its inspection data of obtaining.Replacedly, the inspection data storage that each among the UAV 12a-12e can be obtained it download in its image/audio memory 52 so that after it lands is as indicating at operation 108a.
In operation 110, if inspection data of being obtained from UAV 12a-12e wireless transmission then can be used the display 24 of concentrating inspection post 22 and/or computer control system 22 to show and/or analyze.In operation 112, then test to guarantee whole UAV 12a-12e operate as normal.If the vehicles health monitoring subsystem 46 arbitrarily on the UAV 12a-12e has been reported parts problem or the problem that requires UAV to land immediately, then this situation will be reported from affected UAV 12 via wireless signal and concentrate inspection post 18.At this moment, can use the computer control system 22 in concentrated inspection post 18 new selectable flight planning is sent to each UAV 12 that keeps service.This makes remaining UAV 12 can check the remainder of task.One or more in remaining UAV rather than provide new selectable flight planning only to whole remaining UAV.Can be repeated after the operation 106-112.Replacedly,, can use the dynamic flight planning on each UAV 12 to reallocate system 64, make remaining UAV can finish the inspection task dynamically to determine and to realize new flight if implement.
In operation 116, determine the number percent of the overlay area of checked bridge 14.For example, in case can accept bridge 14 about 99% on inspection, then the probability that guarantees of the detection of defective or flaw has reached particular value and can think that task finishes.Whether the predetermined probability in operation 118 inspection values is finished at present substantially with definite described inspection task.If then UAV 12a-12e will land, as indicating in operation 120.If not, then repetitive operation 106-112 until the predetermined probability that reaches detected value.
The special advantage of system 10 is that data that each UAV 12 obtains can be linked to downwards in real time and concentrate inspection post 18, allows the real-time analysis of data thus, perhaps is saved so that carry out subsequently analysis.At data such as the bigger downlink bandwidth of requirements such as video, this feature may be favourable in the band-limited application-specific of downlink, and any potential flaw in the checked structure will not have the character that produces the situation that threatens personal safety or property.Certainly will exist other to use, inform immediately that wherein main structure flaw is important, such as the main structure flaw on the bridge of car and the dense process of truck.In this case, if find main structure flaw on bridge, then the in real time downward link ability of system 10 will make it possible to handle in real time the check image of being obtained.
Answer understanding system 10 and method also will have special practicality under water to the detection of structure submergence or partially submerged.By using suitable unmanned submersible vehicle, can obtain such as the submergence of bridge, drilling platform part and even the inspection data of the image of the submergence part of ship or video so that analyze.
Each embodiment of system 10 all provides and had not both required that human operator may drove each and check and also not require the human operator may Long-distance Control by vehicles each checks the advantage of the vehicles.In a lot of the application, expectation provides tangible cost savings.Do not need to use artificial driver's viewpoint from will use personal safety or the healthy inspection that brings remarkable risk, system 10 also is favourable.
Although described each embodiment, it will be appreciated by those skilled in the art that and not deviate from modification of the present disclosure or variation.Example has illustrated various embodiment and has been not intended to the restriction disclosure.Therefore, instructions is answered the restriction of broad interpretation for only needing about relevant prior art with claim.
Claims (21)
1. method of checking structure, it comprises:
Use a plurality of independently unmanned mobile traffics (12);
For each described unmanned mobile traffic (12) is equipped with control and navigational system (30) so that each described unmanned mobile traffic (12) energy utonomous working;
To each described unmanned mobile traffic (12) programming, described working routine (30A) defines each described unmanned mobile traffic (12) with respect to the travel path that is examined structure with working routine (30A);
Arrange each described unmanned mobile traffic (12), thereby described unmanned mobile traffic (12) forms the cluster of advancing around described structure (14) collaboratively; And
Use at least one described unmanned mobile traffic (12) with carry out along with it its separately described working routine and obtain inspection data at the described structure of part (14).
2. method according to claim 1 wherein uses at least one described unmanned mobile traffic (12) to obtain comprising that at the inspection data of the described structure of part (14) camera (38,40,42) that uses on described at least one unmanned mobile traffic (12) comes the image imaging to the described structure of part (14).
3. method according to claim 1, wherein each described unmanned mobile traffic (12) obtains the image of the described structure of part (14) when carrying out its separately described working routine (30A).
4. method according to claim 1 wherein comprises with making each described unmanned mobile traffic (12) follow unique working routine with respect to unique path of described structure (14) to each described unmanned mobile traffic (12) programming each described unmanned mobile traffic (12) programming with respect to the working routine (30A) of the travel path that is examined structure with definition.
5. method according to claim 4, wherein each described unmanned mobile traffic (12) obtains a plurality of images of described structure (14) when following described unique path.
6. method according to claim 5, wherein each described unmanned mobile traffic (12) is stored in described a plurality of images of described structure in the machine carried memory (52).
7. method according to claim 6, the image of wherein said storage comprises video flowing.
8. method according to claim 1, also comprise use described at least one unmanned mobile traffic (12) so that described inspection data wireless is delivered to remote centralized inspection post (18) so that analyze.
9. method according to claim 1 is wherein used a plurality of unmanned mobile traffics (12) to comprise and is used a plurality of unmanned rotary wing aircrafts (12a, 12b, 12c, 12d, 12e).
10. method according to claim 1, also comprise and use remote centralized inspection post (18) communicating by letter, and become when not working the real time modifying described working routine (30A) related wirelessly when a described unmanned mobile traffic (12) with remaining described unmanned mobile traffic (12) with described unmanned mobile traffic (12).
11. method according to claim 1 is wherein used a plurality of unmanned mobile traffics (12) to comprise to use one of following:
A plurality of unmanned land crafts (12 ');
A plurality of unmanned transatmospheric vehicles (12a, 12b, 12c, 12d, 12e); And
A plurality of unmanned marine communication means (12 ").
12. a method that is used to check structure, it comprises:
Use a plurality of independently unmanned mobile traffics (12);
For each described unmanned mobile traffic is equipped with control and navigational system (30) so that each described unmanned mobile traffic (12) energy utonomous working;
To each described unmanned mobile traffic (12) programming, described working routine (30A) defines each described unmanned mobile traffic (12) with respect to the unique travel path that is examined structure (14) with working routine (30A);
Arrange (104) each described unmanned mobile traffic (12), thereby described unmanned mobile traffic (12) forms the cluster of advancing around described structure collaboratively;
Use (106) described unmanned mobile traffics (12) with carry out along with each described unmanned mobile traffic (12) its separately described working routine (30A) and obtain the image of the described structure of part (14); And
Make that (108) each described unmanned mobile traffic (12) sends to remote centralized inspection post (12) with described image wireless.
13. method according to claim 12 wherein uses a plurality of unmanned mobile traffics (12) to comprise below the use at least one:
A plurality of aerial mobile traffics (12a, 12b, 12c, 12d, 12e);
A plurality of mobile land crafts (12 '); And
A plurality of mobile marine communication means (12 ").
14. method according to claim 12 is wherein used a plurality of unmanned mobile traffics (12) to comprise and is used a plurality of unmanned rotary wing aircrafts.
15. method according to claim 13 wherein uses described unmanned mobile traffic (12) to comprise below the acquisition at least one with the image that obtains the described structure of part (14):
The coloured image of the described structure of part (14);
The color video of the described structure of part (14);
The black white image of the described structure of part (14);
The infrared image of the described structure of part (14); And
The infrared video of the described structure of part (14).
16. method according to claim 12 also is included as each described unmanned mobile traffic (12) and is equipped with health monitor system (46) to monitor its at least one running parameter.
17. method according to claim 12, wherein said image is provided to described remote centralized inspection post (18) in real time.
18. method according to claim 12 also is included as each described unmanned mobile traffic (12) and is equipped with audio frequency pick device (44) to pick up the sound signal of sending from described structure (14).
19. a system that is used to check structure (14), it comprises:
A plurality of independently unmanned mobile traffics (12);
Each described unmanned mobile traffic (12) has control and navigational system (30) so that each described unmanned mobile traffic (12) energy utonomous working;
Each described unmanned mobile traffic (12) comprises the working routine (30A) of each described unmanned vehicles (12) of definition with respect to the travel path that is examined structure (12), thereby described at work unmanned mobile traffic (12) forms the cluster that moves around described structure (14) collaboratively; And
At least one described unmanned mobile traffic (12) comprise imaging device (38,40,42) with carry out along with it its separately described working routine (30A) and obtain the image of the described structure of part (14).
20. system according to claim 19 also comprises the remote centralized inspection post (18) with each described unmanned mobile traffic (12) radio communication, and
Described at least one described unmanned mobile traffic (12) comprises the transceiver (34) that is used for described image wireless is sent to described remote centralized inspection post (18).
21. system according to claim 19, wherein said remote centralized inspection post (18) comprises transceiver (26), be used for different working routine (30A) wireless transmission is arrived described at least one unmanned vehicles (12), thereby distribute new travel path to described at least one unmanned mobile traffic (12).
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| US12/124,565 | 2008-05-21 | ||
| US12/124,565 US8060270B2 (en) | 2008-02-29 | 2008-05-21 | System and method for inspection of structures and objects by swarm of remote unmanned vehicles |
| PCT/US2009/043364 WO2009142933A2 (en) | 2008-05-21 | 2009-05-08 | System and method for inspection of structures and objects by swarm of remote unmanned vehicles |
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| CN102160005A true CN102160005A (en) | 2011-08-17 |
| CN102160005B CN102160005B (en) | 2014-11-26 |
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| CN200980118675.3A Active CN102160005B (en) | 2008-05-21 | 2009-05-08 | System and method for inspection of structures and objects by swarm of remote unmanned vehicles |
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| US (1) | US8060270B2 (en) |
| EP (1) | EP2288970B1 (en) |
| JP (1) | JP5697592B2 (en) |
| CN (1) | CN102160005B (en) |
| WO (1) | WO2009142933A2 (en) |
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| Publication number | Publication date |
|---|---|
| EP2288970A2 (en) | 2011-03-02 |
| JP2011530692A (en) | 2011-12-22 |
| WO2009142933A2 (en) | 2009-11-26 |
| JP5697592B2 (en) | 2015-04-08 |
| CN102160005B (en) | 2014-11-26 |
| EP2288970B1 (en) | 2016-04-27 |
| US8060270B2 (en) | 2011-11-15 |
| WO2009142933A3 (en) | 2012-07-05 |
| US20100268409A1 (en) | 2010-10-21 |
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